151 lines
3.2 KiB
C++
151 lines
3.2 KiB
C++
|
|
#include <Servo.h>
|
|
#include <SPI.h>
|
|
#include <nRF24L01.h>
|
|
#include <RF24.h>
|
|
|
|
struct MyData {
|
|
byte j1PotX;
|
|
byte j1PotY;
|
|
byte j2PotX;
|
|
byte j2PotY;
|
|
byte pot1;
|
|
byte pot2;
|
|
byte tSwitch1;
|
|
byte tSwitch2;
|
|
byte button1;
|
|
byte button2;
|
|
};
|
|
|
|
MyData data;
|
|
unsigned long lastRecvTime = 0;
|
|
|
|
RF24 radio(7, 8);
|
|
const uint64_t pipeIn = 0xE8E8F0F0E1LL;
|
|
|
|
#define channel1 2
|
|
#define channel3 4
|
|
|
|
#define channel2 3
|
|
#define channel4 5
|
|
#define channel5 6
|
|
#define channel6 9
|
|
#define channel7 10
|
|
|
|
Servo servo_z_axis;
|
|
Servo servo_x_axis;
|
|
Servo servo_y_axis;
|
|
Servo servo_clamp;
|
|
|
|
int x_axis_degree = 90;
|
|
int y_axis_degree = 90;
|
|
int z_axis_degree = 85;
|
|
int clamp_degree = 90;
|
|
|
|
void setup() {
|
|
Serial.begin(9600);
|
|
|
|
|
|
servo_x_axis.attach(3);
|
|
servo_y_axis.attach(5);
|
|
servo_z_axis.attach(6);
|
|
servo_clamp.attach(10);
|
|
|
|
resetData();
|
|
|
|
radio.begin();
|
|
radio.setAutoAck(false);
|
|
radio.setDataRate(RF24_250KBPS);
|
|
|
|
radio.openReadingPipe(1, pipeIn);
|
|
radio.startListening();
|
|
}
|
|
|
|
void loop() {
|
|
recvData();
|
|
unsigned long now = millis();
|
|
if (now - lastRecvTime > 1000) {
|
|
Serial.println("Signal lost!");
|
|
resetData();
|
|
}
|
|
|
|
|
|
if (data.j1PotX < 80) x_axis_degree += 7;
|
|
else if (data.j1PotX > 160) x_axis_degree -= 7;
|
|
|
|
if (data.j1PotY < 80) y_axis_degree -= 7;
|
|
else if (data.j1PotY > 160) y_axis_degree += 7;
|
|
|
|
if (data.j2PotY < 80) z_axis_degree -= 7;
|
|
else if (data.j2PotY > 160) z_axis_degree += 7;
|
|
|
|
clamp_degree = data.tSwitch1 ==1 ? 75 : 90;
|
|
|
|
//*************************************
|
|
//You should decide the max/min angles.
|
|
z_axis_degree = min(145, max(15, z_axis_degree));
|
|
x_axis_degree = min(175, max(40, x_axis_degree));
|
|
y_axis_degree = min(150, max(5, y_axis_degree));
|
|
clamp_degree = min(90, max(75, clamp_degree));
|
|
|
|
Serial.print("x_axis_degree : ");
|
|
Serial.print(x_axis_degree);
|
|
Serial.print(", y_axis_degree : ");
|
|
Serial.print(y_axis_degree);
|
|
Serial.print(", z_axis_degree 4 : ");
|
|
Serial.print(z_axis_degree);
|
|
Serial.print(", clamp_degree : ");
|
|
Serial.println(clamp_degree);
|
|
|
|
servo_clamp.write(clamp_degree);
|
|
servo_x_axis.write(x_axis_degree);
|
|
servo_y_axis.write(y_axis_degree);
|
|
servo_z_axis.write(z_axis_degree);
|
|
}
|
|
|
|
void recvData() {
|
|
while (radio.available()) {
|
|
radio.read(&data, sizeof(MyData));
|
|
|
|
/*analogWrite(throtle_pin, data.throttle);
|
|
servo_yaw.write(map(data.yaw, 0, 255, 0, 180));
|
|
servo_pitch.write(map(data.pitch, 0, 255, 0, 180));
|
|
servo_roll.write(map(data.roll, 0, 255, 0, 180));*/
|
|
|
|
/*Serial.print(data.j1PotX);
|
|
Serial.print(", ");
|
|
Serial.print(data.j1PotY);
|
|
Serial.print(", ");
|
|
Serial.print(data.j2PotX);
|
|
Serial.print(", ");
|
|
Serial.print(data.j2PotY);
|
|
Serial.print(", ");
|
|
Serial.print(data.pot1);
|
|
Serial.print(", ");
|
|
Serial.print(data.pot2);
|
|
Serial.print(", ");
|
|
Serial.print(data.tSwitch1);
|
|
Serial.print(", ");
|
|
Serial.print(data.tSwitch2);
|
|
Serial.print(", ");
|
|
Serial.print(data.button1);
|
|
Serial.print(", ");
|
|
Serial.println(data.button2);*/
|
|
|
|
lastRecvTime = millis();
|
|
}
|
|
}
|
|
|
|
void resetData() {
|
|
data.j1PotX = 127;
|
|
data.j1PotY = 127;
|
|
data.j2PotX = 127;
|
|
data.j2PotY = 127;
|
|
data.pot1 = 1;
|
|
data.pot2 = 1;
|
|
data.tSwitch1 = 1;
|
|
data.tSwitch2 = 1;
|
|
data.button1 = 1;
|
|
data.button2 = 1;
|
|
}
|